| 自主协同系统的宏观稳定机理研究 |
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| 引用本文： | 茹常剑,魏瑞轩,祁晓明,车军,郭庆.自主协同系统的宏观稳定机理研究[J].物理学报,2015,64(10):100202-100202. |
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| 作者姓名： | 茹常剑 魏瑞轩 祁晓明 车军 郭庆 |
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| 作者单位： | 1. 空军工程大学航空航天工程学院, 西安 710038;2. 飞行控制一体化技术国家重点实验室, 西安 710065 |
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| 基金项目： | 中国航空科学基金(批准号: 20135896027)资助的课题. |
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| 摘 要： | 为保证自主协同机群的内聚性, 实现多机的有效沟通和协作, 借鉴蜂王信息素机理, 抽象出跟踪型多无人机自主协同系统的宏观运动特征. 通过构造Lyapunov函数, 分析该系统的稳定性, 进而得到系统的稳定性判据. 仿真结果表明: 本文所提的稳定控制机理不仅能够保证自主协同系统的稳定性, 还能够通过调整相关控制参数有效地控制系统规模.
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| 关 键 词： | 无人机 自主协同系统 稳定机理 |
| 收稿时间： | 2014-09-25 |
Macroscopic stable mechanism of autonomous cooperative system |
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| Ru Chang-Jian,Wei Rui-Xuan,Qi Xiao-Ming,Che Jun,Guo Qing.Macroscopic stable mechanism of autonomous cooperative system[J].Acta Physica Sinica,2015,64(10):100202-100202. |
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| Authors: | Ru Chang-Jian Wei Rui-Xuan Qi Xiao-Ming Che Jun Guo Qing |
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| Institution: | 1. Institute of Aeronatics and Astronautics Engineering, Air Force Engineering University, Xi’an 710038, China;2. Science and Technology on Aircraft Control Laboratory, FACRI, Xi’an 710065, China |
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| Abstract: | The cohesiveness of autonomous cooperative system is the basis of achieving the effective communication and cooperation among the multiple vehicles. Therefore, the biosphere mechanism of queen mandibular pheromone is used for reference in this paper, to abstract the macro motion characteristic of multiple unmanned aerial vehicles autonomous cooperative tracking system. Then, some Lyapunov functions are constructed to analyze the stability of this system, thus obtaining its judgment criterion of stability. Finally, the simulation is given to verify the effectiveness of the proposed stable mechanism. The results show that the proposed stable mechanism not only can ensure the stability of autonomous cooperative system, but also can control the scale of this system effectively by adapting some relevant control parameters. |
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| Keywords: | autonomous cooperative system unmanned aerial vehicle stable mechanism |
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